♻️ Encapsulate PID in class (#24389)

MarlinFirmware · Jul 15, 2022 · e4f85e8 · e4f85e8
1 parent 6789559
commit e4f85e8
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Showing 13 changed files with 216 additions and 298 deletions.
diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
@@ -789,7 +789,7 @@ void idle(bool no_stepper_sleep/*=false*/) {
   manage_inactivity(no_stepper_sleep);
 
   // Manage Heaters (and Watchdog)
-  thermalManager.manage_heater();
+  thermalManager.task();
 
   // Max7219 heartbeat, animation, etc
   TERN_(MAX7219_DEBUG, max7219.idle_tasks());

diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h
@@ -227,10 +227,6 @@
 #define STR_PID_DEBUG                       " PID_DEBUG "
 #define STR_PID_DEBUG_INPUT                 ": Input "
 #define STR_PID_DEBUG_OUTPUT                " Output "
-#define STR_PID_DEBUG_PTERM                 " pTerm "
-#define STR_PID_DEBUG_ITERM                 " iTerm "
-#define STR_PID_DEBUG_DTERM                 " dTerm "
-#define STR_PID_DEBUG_CTERM                 " cTerm "
 #define STR_INVALID_EXTRUDER_NUM            " - Invalid extruder number !"
 #define STR_MPC_AUTOTUNE                    "MPC Autotune"
 #define STR_MPC_AUTOTUNE_START              " start for " STR_E

diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp
@@ -29,10 +29,10 @@ void safe_delay(millis_t ms) {
   while (ms > 50) {
     ms -= 50;
     delay(50);
-    thermalManager.manage_heater();
+    thermalManager.task();
   }
   delay(ms);
-  thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made
+  thermalManager.task(); // This keeps us safe if too many small safe_delay() calls are made
 }
 
 // A delay to provide brittle hosts time to receive bytes

diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp
@@ -290,7 +290,7 @@ void plan_arc(
 
     for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
 
-      thermalManager.manage_heater();
+      thermalManager.task();
       const millis_t ms = millis();
       if (ELAPSED(ms, next_idle_ms)) {
         next_idle_ms = ms + 200UL;

diff --git a/Marlin/src/gcode/queue.cpp b/Marlin/src/gcode/queue.cpp
@@ -384,7 +384,7 @@ inline bool process_line_done(uint8_t &sis, char (&buff)[MAX_CMD_SIZE], int &ind
   buff[ind] = '\0';                   // Of course, I'm a Terminator.
   const bool is_empty = (ind == 0);   // An empty line?
   if (is_empty)
-    thermalManager.manage_heater();   // Keep sensors satisfied
+    thermalManager.task();            // Keep sensors satisfied
   else
     ind = 0;                          // Start a new line
   return is_empty;                    // Inform the caller

diff --git a/Marlin/src/lcd/e3v2/jyersui/dwin.cpp b/Marlin/src/lcd/e3v2/jyersui/dwin.cpp
@@ -1202,7 +1202,7 @@ void CrealityDWINClass::Menu_Item_Handler(uint8_t menu, uint8_t item, bool draw/
                 if (thermalManager.temp_hotend[0].target < thermalManager.extrude_min_temp)
                   Popup_Handler(ETemp);
                 else {
-                  if (thermalManager.temp_hotend[0].celsius < thermalManager.temp_hotend[0].target - 2) {
+                  if (thermalManager.temp_hotend[0].is_below_target(-2)) {
                     Popup_Handler(Heating);
                     thermalManager.wait_for_hotend(0);
                   }
@@ -1345,7 +1345,7 @@ void CrealityDWINClass::Menu_Item_Handler(uint8_t menu, uint8_t item, bool draw/
                 Popup_Handler(ETemp);
               }
               else {
-                if (thermalManager.temp_hotend[0].celsius < thermalManager.temp_hotend[0].target - 2) {
+                if (thermalManager.temp_hotend[0].is_below_target(-2)) {
                   Popup_Handler(Heating);
                   thermalManager.wait_for_hotend(0);
                   Redraw_Menu();
@@ -1732,7 +1732,7 @@ void CrealityDWINClass::Menu_Item_Handler(uint8_t menu, uint8_t item, bool draw/
               if (thermalManager.temp_hotend[0].target < thermalManager.extrude_min_temp)
                 Popup_Handler(ETemp);
               else {
-                if (thermalManager.temp_hotend[0].celsius < thermalManager.temp_hotend[0].target - 2) {
+                if (thermalManager.temp_hotend[0].is_below_target(-2)) {
                   Popup_Handler(Heating);
                   thermalManager.wait_for_hotend(0);
                 }
@@ -1751,7 +1751,7 @@ void CrealityDWINClass::Menu_Item_Handler(uint8_t menu, uint8_t item, bool draw/
                 Popup_Handler(ETemp);
               }
               else {
-                if (thermalManager.temp_hotend[0].celsius < thermalManager.temp_hotend[0].target - 2) {
+                if (thermalManager.temp_hotend[0].is_below_target(-2)) {
                   Popup_Handler(Heating);
                   thermalManager.wait_for_hotend(0);
                 }
@@ -1769,7 +1769,7 @@ void CrealityDWINClass::Menu_Item_Handler(uint8_t menu, uint8_t item, bool draw/
               if (thermalManager.temp_hotend[0].target < thermalManager.extrude_min_temp)
                 Popup_Handler(ETemp);
               else {
-                if (thermalManager.temp_hotend[0].celsius < thermalManager.temp_hotend[0].target - 2) {
+                if (thermalManager.temp_hotend[0].is_below_target(-2)) {
                   Popup_Handler(Heating);
                   thermalManager.wait_for_hotend(0);
                 }
@@ -4404,7 +4404,7 @@ void CrealityDWINClass::Popup_Control() {
             if (thermalManager.temp_hotend[0].target < thermalManager.extrude_min_temp)
               Popup_Handler(ETemp);
             else {
-              if (thermalManager.temp_hotend[0].celsius < thermalManager.temp_hotend[0].target - 2) {
+              if (thermalManager.temp_hotend[0].is_below_target(-2)) {
                 Popup_Handler(Heating);
                 thermalManager.wait_for_hotend(0);
               }

diff --git a/Marlin/src/lcd/extui/ui_api.cpp b/Marlin/src/lcd/extui/ui_api.cpp
@@ -169,7 +169,7 @@ namespace ExtUI {
   }
 
   void yield() {
-    if (!flags.printer_killed) thermalManager.manage_heater();
+    if (!flags.printer_killed) thermalManager.task();
   }
 
   void enableHeater(const extruder_t extruder) {

diff --git a/Marlin/src/libs/buzzer.cpp b/Marlin/src/libs/buzzer.cpp
@@ -48,7 +48,7 @@ void Buzzer::tone(const uint16_t duration, const uint16_t frequency/*=0*/) {
   if (!ui.sound_on) return;
   while (buffer.isFull()) {
     tick();
-    thermalManager.manage_heater();
+    thermalManager.task();
   }
   tone_t tone = { duration, frequency };
   buffer.enqueue(tone);

diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
@@ -966,7 +966,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
     next_idle_ms = ms + 200UL;
     return idle();
   }
-  thermalManager.manage_heater();  // Returns immediately on most calls
+  thermalManager.task();  // Returns immediately on most calls
 }
 
 #if IS_KINEMATIC

diff --git a/Marlin/src/module/planner_bezier.cpp b/Marlin/src/module/planner_bezier.cpp
@@ -123,7 +123,7 @@ void cubic_b_spline(
 
   for (float t = 0; t < 1;) {
 
-    thermalManager.manage_heater();
+    thermalManager.task();
     millis_t now = millis();
     if (ELAPSED(now, next_idle_ms)) {
       next_idle_ms = now + 200UL;